WO2023284506A1 - Connecting structures and surgical robot - Google Patents

Abstract

A connecting structure of an instrument driver (180) and a sterile adapter (140), a connecting structure of the sterile adapter (140) and a surgical instrument (110), and a surgical robot (100). The surface of the instrument driver (180) is provided with driver fixing snap-fit members (181), and the sterile adapter (140) is connected to the instrument driver (180). The sterile adapter (140) comprises an adapter body (141) and an adapter connecting assembly (150). The driver fixing snap-fit members (181) at least partially extend into the adapter body (141). The adapter connecting assembly (150) is provided on the adapter body (141) and used for fixing the adapter body (141) to the instrument driver (180); the adapter connecting assembly (150) is provided with movable snap-fit members capable of matching the driver fixing snap-fit members (181); the movable snap-fit members can move between the engagement positions where the movable snap-fit members are engaged with the driver fixing snap-fit members (181) and the disengagement positions where the movable snap-fit members are disengaged from the driver fixing snap-fit members (181); and moving trajectories of the movable snap-fit members are parallel to the surface of the instrument driver (180).

Description

Connected structures and surgical robots

Cross References to Related Applications

This application claims the rights to the Chinese patent application 202110795336.1 filed on July 14, 2021 entitled "Connection Structure of Instrument Driver and Sterile Adapter and Surgical Robot" and the patent application entitled "Sterile Adapter" filed on July 14, 2021 The priority of the Chinese patent application 202110795324.9 for connection structure with surgical instruments and surgical robot, the entire content of the earlier application is incorporated herein by reference.

technical field

The application belongs to the technical field of medical instruments, and in particular relates to a connection structure between an instrument driver and a sterile adapter, a connection structure between a sterile adapter and a surgical instrument, and a surgical robot.

Background technique

Surgical robots can help doctors achieve precise positioning of surgery, and have the advantages of reducing patient wounds and shortening postoperative recovery time. And it has a stable operating platform, which can solve the doctor's trembling and other situations, so it has a large number of applications in clinical surgery.

The surgical robot on the patient side performs surgical operations through surgical instruments with end effectors. In order to meet the usage requirements of different surgical instruments during surgery, the surgical instruments and instrument drivers are usually designed to be detachable, and are used to replace different surgical instruments during surgery. At the same time, surgical instruments are usually independently sterilizable.

The instrument driver end is usually designed to be non-sterilizable. In order to ensure the sterility during the operation, it is necessary to add a sterile adapter between the instrument driver and the surgical instrument during the operation to isolate the non-sterile instrument driver end during the operation and Sterilizable surgical instrument ends.

At present, the aseptic adapter and the instrument driver, as well as the aseptic adapter and the surgical instrument, are connected by buckles. For example, the buckle connection shown in FIG. 1 utilizes the elasticity of the two buckles to make the two buckles rotate relative to each other to realize the buckle connection. The dotted line in FIG. 1 is a schematic diagram of the movement track of the buckles.

However, due to gaps between the fastening surfaces of the buckles, it is easy to cause uneven force, unstable fastening, vibration, etc., which have an adverse effect on the stability of the entire system. In addition, the current fastening method is also prone to overturning the surgical instrument.

Contents of the invention

The first aspect of the embodiment of the present application provides a connection structure between an instrument driver and a sterile adapter. The surface of the instrument driver is provided with a driver fixing buckle. The sterile adapter is connected to the instrument driver. The sterile adapter includes: an adapter body; Assemblies, the adapter connection assembly is arranged on the adapter main body for fixing the adapter body to the instrument driver, the adapter connection assembly has a movable buckle that can cooperate with the driver fixing buckle, and the movable buckle is in the engagement position that is engaged with the driver fixing buckle and is fixed to the driver The buckle can move between disengaged positions, and the moving track of the movable buckle is parallel to the mating surface of the instrument driver and the sterile adapter.

According to the connection structure between the instrument driver and the sterile adapter provided in the first aspect of the embodiment of the present application, the relative horizontal movement between the fixed buckle and the movable buckle of the driver is used to realize the buckle, which can avoid the empty position between the buckles and improve the buckle. tightness and stability.

In one embodiment, two groups of driver fixing buckles are arranged on the surface of the instrument driver, and the two groups of driver fixing buckles are separated by the driver transmission part. The adapter connection assembly includes: two movable parts, each of which has a corresponding A set of movable buckles of the fixed buckle, both movable parts are movable relative to the main body of the adapter to drive the movable buckle to move between the engaged position and the disengaged position; at least one elastic part, the elastic part is connected with the movable part to move toward the movable The member provides the force that urges the movable buckle toward the engaged position.

In one embodiment, the two movable parts are set in linkage or not in linkage.

In one embodiment, each set of driver fixing buckles includes at least two fixing buckles arranged across a span, and each movable part is provided with a movable buckle at the same location as the driver fixing buckle.

In one embodiment, the movable part includes an engaging part and a connecting part, the movable buckle is located on the engaging part, the connecting part is connected with the elastic part, and the elastic part provides the force driving the movable buckle towards the engaging position, and the extending direction of the engaging part perpendicular to the direction of force of the elastic.

In one embodiment, the engaging portion extends from one side or both sides of the connecting portion, and a group of movable buckles are arranged across a span along the extending direction of the engaging portion.

In an embodiment, the movable part further includes an operation button, and the operation button is disposed on the connection part or the engaging part.

In one embodiment, the upper surface of the driver fixing buckle is configured as an inclined surface or an arc-shaped surface, and the directions of the inclined surfaces or the arc-shaped surfaces of the two groups of driver fixing buckles are opposite.

In one embodiment, the lower surface of the movable buckle is configured as an inclined surface or an arc-shaped surface, and the inclined surfaces or the arc-shaped surfaces of the two groups of movable buckles face opposite to each other.

In one embodiment, the adapter connection assembly includes an elastic member, and the two movable members include: a first movable member, the first movable member includes a first engaging portion and a first connecting portion connected to the first engaging portion, the second The first engaging part is provided with a group of movable buckles; the second movable part, the second movable part includes the second engaging part and the second connecting part connected with the second engaging part, and the second engaging part is provided with a group of movable buckles; Wherein, the elastic member connects the first connecting portion and the second connecting portion, so that the first movable member and the second movable member can move relative to each other.

In one embodiment, the first connecting portion includes a cavity, the second connecting portion includes a protrusion, the protrusion extends at least partially into the cavity, and the protrusion is configured to move along the cavity.

In one embodiment, the elastic element is disposed in the cavity, one end of the elastic element abuts against the closed end of the cavity, and the other end of the elastic element abuts against the protrusion.

In one embodiment, the elastic member is configured as a spring, the closed end of the cavity of the first connection part is provided with a first fixing column protruding toward the second connection part, and the end of the protruding part of the second connection part is provided with a The two ends of the spring are respectively sleeved on the first fixing post and the second fixing post protruding toward the first connecting part.

In one embodiment, the main body of the adapter is provided with a partition, and the adapter connection assembly includes two elastic parts, the two elastic parts are respectively located and connected to both sides of the partition, and each movable part is connected to one elastic part respectively, and the two elastic parts are connected to each other. The movable parts are symmetrical with respect to the partition.

In one embodiment, the driver fixing buckle includes an extension part and a clamping part, the clamping part is provided with a clamping surface, the upper surface of the clamping part forms the upper surface of the driver fixing buckle, and the clamping surface is configured as the On the lower surface, the movable buckle is configured as a draw-in groove with the notch outward, and the draw-in groove has a matching surface, which forms the bottom surface in the draw-in groove.

The second aspect of the embodiment of the present application provides a connection structure between a sterile adapter and a surgical instrument, the upper surface of the sterile adapter is provided with an adapter fixing buckle, the surgical instrument is connected to the sterile adapter, and the surgical instrument includes a base and at least one instrument fixing button. components. The instrument fixing component is arranged on the base, and is used to fix the base to the sterile adapter. The instrument fixing component includes an instrument moving part. The instrument moving part is provided with a moving buckle that can cooperate with the adapter fixing buckle. The fixed buckle is movable between a locked position where it forms an engagement and an unlocked position where the movable buckle disengages from the adapter fixed buckle, wherein the moving track of the moving part of the instrument is parallel to the surface of the sterile adapter.

According to the connection structure between the sterile adapter and the surgical instrument provided in the second aspect of the embodiment of the present application, the relative horizontal movement between the fixed buckle and the movable buckle of the adapter is used to realize the clamping, which can avoid gaps between the buckles and improve the clamping efficiency. Tightness and stability to avoid overturning of surgical instruments.

In one embodiment, two sets of adapter fixing buckles are provided on the upper surface of the sterile adapter, and the two sets of adapter fixing buckles are respectively located at two opposite sides of the sterile adapter; the surgical instrument includes two instrument fixing components, two The instrument fixing components are respectively arranged on the two sides of the base corresponding to the sterile adapter, and respectively correspond to the adapter fixing buckles, and each instrument moving part is provided with a set of moving buckles, and a set of moving buckles are arranged along the side extension direction of the sterile adapter .

In one embodiment, each set of adapter fixing buckles includes at least two adapter fixing buckles, and the at least two adapter fixing buckles are set across a span, and each instrument moving part includes at least two moving buckles, and at least two moving buckles are set across a span.

In one embodiment, each instrument moving part moves along the direction in which the moving buttons are arranged.

In one embodiment, the instrument fixing assembly further includes: a guide part, the guide part extends along a direction parallel to both sides of the base, the instrument moving part is arranged on the guiding part and is limited by the guiding part, so that the instrument moving part can move along a direction parallel to the two sides of the base. The direction of the two sides of the base moves; the first elastic member, the first elastic member is arranged on the guide part and connected with the instrument moving part, the elastic force of the first elastic member makes the instrument moving part tend to move towards the locking position.

In one embodiment, the instrument fixing assembly further includes: a first connection seat, the first connection seat is arranged on the base; a second connection seat, the second connection seat is arranged on the base and is set across from the first connection seat; wherein, the guide The part is arranged between the first connecting seat and the second connecting seat, so that the instrument moving part can move between the first connecting seat and the second connecting seat.

In one embodiment, the guide part includes a sliding rod at least partially extending into the instrument moving part, the sliding rod is connected to the first connecting seat and/or the second connecting seat, and the instrument moving part is configured to move along the sliding bar.

In one embodiment, the instrument moving part includes a moving part main body. The moving part main body has a first end close to the first connecting seat and a second end close to the second connecting seat. The moving part main body is provided with a The channel at the two ends; the slide bar runs through the channel and is limited by the guide part.

In one embodiment, the first elastic member is sheathed on the slide rod and located between the second end of the main body of the moving part and the second connecting seat, so that the distance between the first end and the first connecting seat is variable; or The first elastic member is located between the first end of the moving part main body and the first connecting seat, so that the distance between the first end and the first connecting seat is variable.

In one embodiment, the surgical instrument further includes an unlocking assembly, the unlocking assembly includes a baffle and a manipulation button, the baffle is fixedly connected to the base and is provided with a perforation, the manipulation button includes: a button body, one side of the button body faces the baffle; Position buckle, the limit buckle is connected to the button main body, the limit buckle includes a body part and a hook part arranged at the end of the body part, the body part extends through the perforation, so that the manipulation button can be moved closer to or farther away from the baffle Move, the hook part can be engaged with the edge of the perforation to prevent the limit buckle from breaking away from the perforation; and the actuation part, the actuation part is located at the bottom of the button main body and protrudes toward the bottom of the button main body; the moving part main body is provided with The passive part protruding from the main body of the moving part; wherein, when the button body is close to the bezel, the actuating part interferes with the passive part, so that the main body of the moving part can move to the unlocked position, and when the button body is away from the bezel, the actuating part disengages The passive part enables the main body of the moving part to move to the locking position.

In one embodiment, the actuating part has an actuating surface, the passive part has a passive surface, a sliding fit is formed between the actuating surface and the passive surface, and both the actuating surface and the passive surface are configured as inclined surfaces; or

The actuating part is configured as a rolling element, the passive part has a passive surface, rolling fit is formed between the rolling element and the passive surface, and the passive surface is configured as an inclined surface.

In one embodiment, the instrument fixing assembly further includes a second elastic member connected between the button body and the baffle, and the elastic force of the second elastic member tends to keep the button body away from the baffle.

A third aspect of the embodiments of the present application provides a surgical robot, including the connection structure between the instrument driver and the sterile adapter in the first aspect, and/or the connection structure between the sterile adapter and the surgical instrument in the second aspect. The surgical robot according to the present application has technical effects similar to those of the above-mentioned first aspect and/or the second aspect.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings that need to be used in the embodiments of the present application. Additional figures can be derived from these figures.

Fig. 1 is a schematic diagram of the movement state of the buckle when the instrument driver and the sterile adapter are engaged in some cases;

FIG. 2 is a schematic structural diagram of an instrument driving part of a surgical robot according to an optional embodiment of the present application;

Fig. 3 is a schematic diagram of the installation structure of the instrument rear end of the surgical robot in Fig. 2;

Fig. 4 is a schematic diagram of the connecting structure of the instrument driver and the sterile adapter of the surgical robot in Fig. 3;

Fig. 5 is a schematic diagram of the connection structure between the instrument driver and the sterile adapter in Fig. 4, and the adapter cover is omitted;

Fig. 6 is an exploded schematic view of the connection structure of the instrument driver and the sterile adapter in Fig. 5;

Fig. 7 is a schematic structural diagram of the adapter connection assembly in Fig. 6;

Fig. 8 is a schematic diagram of the connection structure between the sterile adapter of the surgical robot and the rear end of the surgical instrument in Fig. 3;

Fig. 9 is an exploded schematic diagram of the connection structure between the sterile adapter and the rear end of the surgical instrument in Fig. 8;

Fig. 10 is a further exploded schematic diagram of the connection structure between the sterile adapter and the surgical instrument in Fig. 9;

Fig. 11 is a partial structural schematic diagram of the surgical instrument in Fig. 8;

Fig. 12 is a schematic structural view of the manipulation button and the instrument moving part in Fig. 10; and

FIG. 13 is a schematic cutaway view of the surgical robot in FIG. 2 .

detailed description

The characteristics and exemplary embodiments of various aspects of the application will be described in detail below. In order to make the purpose, technical solution and advantages of the application clearer, the application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only configured to explain the application, not to limit the application. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. any such actual relationship or order exists between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in the process, method, article or device that includes the element.

Now, an exemplary embodiment according to the present application will be described in more detail with reference to FIGS. 2 to 13 .

Referring first to FIG. 2 , FIG. 3 and FIG. 13 , the surgical robot 100 of the present application may include a surgical instrument 110 , a sterile adapter 140 and an instrument driver 180 . Sterile adapter 140 is connected to instrument driver 180 and surgical instrument 110 is connected to sterile adapter 140 . Specifically, the lower surface of the sterile adapter 140 is mated with the upper surface of the instrument driver 180 .

The front end of the surgical instrument 110 is configured as a surgical tool such as forceps, scissors, clip light, and the like. The rear end of the surgical instrument 110 is connected to the upper surface of the sterile adapter 140, and the instrument driver 180 provides driving force to the instrument actuator 131 at the rear end of the surgical instrument 110 through the sterile adapter 140, and then through the traction assembly ( For example, wire ropes, etc.) enable the above-mentioned surgical tool to complete the actions of pitching, deflection and gripping. Moreover, the connection structure between the instrument driver 180 and the sterile adapter 140, and the connection structure between the sterile adapter 140 and the surgical instrument 110 are all configured as buckle connections.

Please refer to FIG. 4 , FIG. 5 , FIG. 6 and FIG. 7 , which illustrate the connection structure of the instrument driver 180 and the sterile adapter 140 . The surface of the instrument driver 180 is provided with a driver fixing buckle 181 (shown in FIG. 6 ). The number may be one set or more, etc. In an optional embodiment of the present application, the number referred to by a group is 2. It is easy to understand that the number referred to by a group can also be 3, 4, 5 or six, etc.

The sterile adapter 140 includes an adapter body 141 , an adapter cover 142 and an adapter connection assembly 150 . The bottom of the adapter body 141 is connected to the upper surface of the instrument driver 180 such that the above-mentioned driver fixing buckle 181 at least partially extends into the adapter body 141 . The adapter cover 142 is fixedly connected to the adapter body 141 .

The adapter connection assembly 150 is at least partially disposed in the adapter main body 141 , and the adapter connection assembly 150 is provided with a movable buckle that can cooperate with the driver fixing buckle 181 . The adapter connection assembly 150 is thereby able to secure the adapter body 141 to the instrument driver 180 . The movable buckle is movable between the engagement position formed with the driver fixing buckle 181 and the disengagement position disengaged from the driver fixing buckle 181 , and the moving track of the movable buckle is parallel to the mating surface of the instrument driver 180 and the sterile adapter 140 .

In an optional embodiment, the upper surface of the driver fixing buckle 181 is configured as an inclined plane or an arcuate surface, and the lower surface of the movable buckle is also configured as an inclined plane or an arcuate surface. And the lower surface of the driver fixing buckle 181 is configured to be able to cooperate with the upper surface of the movable buckle, so that during assembly, when the adapter connection assembly 150 moves downward, the lower surface of the movable buckle can press the upper surface of the driver fixing buckle 181 , which in turn causes the movable buckle to move laterally and inwardly under the action of extrusion. As the adapter connection assembly 150 continues to move downwards, after the lower surface of the movable buckle and the upper surface of the driver fixing buckle 181 finish squeezing and interfering, the movable buckle rebounds under the action of the elastic member 161 (described in detail below), and then Complete the snap action.

In yet another optional implementation manner, the driver fixing buckle 181 includes an extension part and a clamping part, the clamping part is provided with a clamping surface, and the clamping surface is located on the lower surface of the clamping part. The movable buckle is configured as a card slot, and the card slot has a matching surface, and the matching surface faces upward. When the movable buckle is engaged with the driver fixing buckle 181 through relative horizontal movement, the clamping surface and the mating surface will fit together, so that the surface-to-surface contact clamping and seamless engagement can be realized.

According to the surgical robot provided in the embodiment of the present application, the relative horizontal movement between the driver fixing buckle 181 and the movable buckle is used to realize the clamping, which can avoid virtual clamping between the buckles, and improve the tightness and stability of the clamping .

Optionally, two sets of driver fixing buckles 181 are provided on the surface of the instrument driver 180 , and the two sets of driver fixing buckles 181 are spaced from each other and arranged opposite to each other. Specifically, the two sets of driver fixing buckles 181 are respectively close to the two opposite sides of the instrument driver 180, and the same set of driver fixing buckles 181 is set at one side across the distance between the driver fixing buckles 181 respectively located at the two sides. The locking parts face each other.

Correspondingly, the adapter connection assembly 150 is provided with two sets of movable buckles whose position and quantity are matched with the driver fixing buckles 181 , that is, the points of the movable buckles are the same as the driver fixing buckles 181 . The two groups of movable buckles can be linked or not linked. To this end, the adapter connection assembly 150 is optionally configured to include two movable pieces.

A group of movable buckles are arranged on each movable part. Both movable parts are movable relative to the adapter body 141 to drive the movable buckle to move between the engaging position and the disengaging position. In an embodiment, the movable part can be roughly configured into a "T" shape, and a group of movable buckles can be arranged at intervals on the head (ie, the transverse part) of the "T" shape, and the tail parts of the "T" shape of the two movable parts ( That is, the vertical portions) can face each other. Thus, a plurality of driver fixing buckles 181 can be arranged across (or distributed) on the surface of the instrument driver 180, and correspondingly, a plurality of movable buckles can also be arranged across (or distributed). The two movable parts can move independently or in conjunction with each other. According to the above settings, the cooperation of two sets of movable buckles and two sets of driver fixing buckles 181 can realize the multi-point fastening of the instrument driver 180 and the sterile adapter 140, and a set of movable buckles on each movable part can realize Linkage, easy disassembly and assembly. Optionally, the movable buckle is configured as a card slot with the notch facing outward.

Exemplarily, in an alternative embodiment, the two movable members may have the same configuration. In this embodiment, a partition (not shown) may also be provided on the adapter body 141 , which may optionally be located in the middle of the adapter body 141 .

The above two movable parts are respectively connected and arranged on both sides of the partition, and are symmetrical with respect to the partition. The adapter connection assembly 150 includes two elastic pieces 161 , each movable piece is connected to the partition via one elastic piece 161 , and the elastic force of the elastic piece 161 makes the movable buckle tend to move toward the engaging position.

In the embodiment shown in FIGS. 5 to 7 , the two movable parts include a first movable part 151 and a second movable part 155 . The first movable member 151 includes a first engaging portion 152 and a first connecting portion 153 connected to the first engaging portion 152 . A group of movable buckles, called first movable buckles 154 , are disposed on the first engaging portion 152 . The second movable member 155 includes a second engaging portion 156 and a second connecting portion 157 connected to the second engaging portion 156 . A set of movable buckles, called second movable buckles 158 , is also arranged on the second engaging portion 156 .

The first connecting portion 153 and the second connecting portion 157 are connected via an elastic member 161 , so that the first movable member 151 and the second movable member 155 can move relative to each other. Similar to the aforementioned unshown embodiments, the elastic member 161 provides elastic force to the first movable member 151 and the second movable member 155 , and the elastic force makes the movable buckle tend to move toward the engaging position.

Thus, when the movable buckle is in the engaged position, the first movable part 151 and/or the second movable part 155 can be pushed by the user (push the operation button, which will be described in detail below) to move in a direction close to each other, so that the movable The buckle moves to the disengaged position. When the movable buckle is at the disengaged position, the first movable member 151 and/or the second movable member 155 can move away from each other under the push of the elastic member 161 , so that the movable buckle moves to the engaged position. The extending direction of the first engaging portion 152 and the second engaging portion 156 is perpendicular to the force direction of the elastic member 161 .

The structure of the adapter connection assembly 150 will be described in more detail below with reference to FIG. 7 . The first engaging portion 152 extends from the first connecting portion 153 to both sides, and a group of movable buckles are arranged at intervals along the extending direction of the first connecting portion 153 . The second engaging portion 156 extends from the second connecting portion 157 to both sides, and another set of movable buckles are arranged at intervals along the extending direction of the second connecting portion 157 . That is to say, the first engaging portion 152 and the second engaging portion 156 can be referred to as “T”-shaped heads. Correspondingly, the first connecting portion 153 and the second connecting portion 157 can be called “T”-shaped tails.

In a specific embodiment, the movable part can also be roughly configured in an "L" shape, that is, the engaging part extends from one side of the connecting part. Specifically, the first engaging portion 152 extends from the first connecting portion 153 to one side, and the second engaging portion 156 extends from the second connecting portion 157 to one side accordingly. In this embodiment, the first connecting portion 153 and/or the second connecting portion 157 are disposed close to the guide backplane (not shown).

A cavity 159 is disposed at an end of the first connecting portion 153 away from the first engaging portion 152 , and a protruding portion 160 is disposed at an end of the second connecting portion 157 away from the second engaging portion 156 . The protrusion 160 extends at least partially into the cavity portion 159 such that the protrusion 160 is capable of reciprocating movement along the cavity portion 159 . That is, the circumferential dimension of the protruding portion 160 is smaller than that of the cavity portion 159 so that the first connecting portion 153 and the second connecting portion 157 can be self-guiding.

An optional configuration of the elastic member 161 is a spring, which is disposed in the cavity portion 159 and abuts between the first connecting portion 153 and the second connecting portion 157 . Specifically, one end of the elastic member 161 abuts against the closed end of the cavity portion 159 , and the other end thereof is connected to the protruding portion 160 . In this embodiment, the protruding portion 160 may be configured in a shape similar to that of the cavity portion 159 , that is, square or rectangular.

In order to install the elastic member 161 stably in the cavity 159 , the end of the first connecting portion 153 is further provided with a first fixing post 162 protruding toward the second connecting portion 157 , which is located at the closed end of the cavity 159 . An end of the second connecting portion 157 is provided with a second fixing column 163 protruding toward the first connecting portion 153 . Two ends of the spring are respectively sleeved on the first fixing column 162 and the second fixing column 163 to form a stable support.

In a non-illustrated embodiment, the projection 160 can be configured as a cylinder, which extends at least partially into the interior of the spring, thereby also forming a support for the spring.

In yet another optional embodiment, the first connecting portion 153 and the second connecting portion 157 are provided with limiting devices to prevent the first connecting portion 153 and the second connecting portion 157 from being disengaged. Specifically, the limiting device can optionally be located at the ends where the first connecting portion 153 and the second connecting portion 157 are close to each other, and a hook or snap can be formed between the two limiting devices, so that the first movable member 151 After being assembled with the second movable part 155, it is not easy to fall apart.

Please refer to Figure 4 to Figure 7. A first operation button 164 is also disposed on the first movable member 151 , which can be disposed on the first connecting portion 153 or on the first engaging portion 152 . Optionally, the first operation button 164 is disposed at the junction of the first connecting portion 153 and the first engaging portion. The second movable member 155 is also provided with a second operation button 165 , which is similar in structure and installation position to the first operation button 164 , and will not be repeated here. The user may push the first operation button 164 and/or the second operation button 165 to complete the unlocking operation.

The adapter cover 142 is provided with a first opening 143 and a second opening 144 spaced apart from each other. The positions of the first opening 143 and the second opening 144 respectively correspond to the positions of the first operation button 164 and the second operation button 165, so that the first operation button 164 and the second operation button 165 can respectively extend through the first opening 143 And the second opening 144 thus protrudes from the upper surface of the adapter cover 142 . Moreover, the cross-sectional dimensions of the first opening 143 and the second opening 144 are respectively larger than the cross-sectional dimensions of the first operating button 164 and the second operating button 165 to reserve a moving space for the first operating button 164 and the second operating button 165 .

In a specific embodiment, the operation buttons can also be arranged on a pair of side surfaces of the sterile adapter 140 , that is, a pair of side parts of the adapter main body 141 . For example, a hole may be formed on the side of the adapter main body 141 , and the operation button extends laterally from the hole, so as to prevent the upward protrusion from interfering with other components.

A screw receiving portion 145 is disposed on the adapter body 141 , and the adapter cover 142 is optionally connected to the adapter body 141 via screws. The screw receiving portion 145 is provided near the position of the first operation button 164 and the second operation button 165 . In order to avoid the screw receiving portion 145, the connection between the first connecting portion 153 and the first engaging portion 152 and the connecting portion between the second connecting portion 157 and the second engaging portion 156 are provided with recesses facing away from the screw receiving portion 145. groove portion 146 .

The instrument driver 180 is also provided with a plurality of driver connectors 182, which form the driver transmission part. The sterile adapter 140 is also provided with a plurality of adapter connectors 136 , and the adapter connectors 136 are docked with the driver connector 182 , or in other words, the adapter connectors 136 are sleeved above the driver connector 182 . The sides of the first engaging portion 152 and the second engaging portion 156 facing the driver connector 182 are provided with a groove 147 recessed away from the driver connector 182 , the shape of the groove 147 is similar to the shape of the edge of the driver connector 182 , to avoid the above-mentioned driver connector 182.

Moreover, the mounting surface of the driver connector 182 can also form a stop with the above-mentioned groove 147 . It can be combined with the outer frame of the adapter body 141 to jointly restrict the adapter connection assembly 150 in the adapter body 141 .

Please refer to FIG. 8 , FIG. 9 , FIG. 10 , FIG. 11 , FIG. 12 and FIG. 13 below. It shows the connection structure of the sterile adapter 140 and the surgical instrument 110 . Surgical instrument 110 includes a base 111 . The base 111 is connected to a sterile adapter 140 which optionally conforms to the upper surface of an adapter cover 142 . The positions of the base 111 corresponding to the first operation button 164 and the second operation button 165 are respectively provided with a first set of holes 135 and a second set of holes (not shown). The first operation button 164 and the second operation button 165 on the adapter connection assembly 150 respectively extend through the first set of holes 135 and the second set of holes so as to protrude from the upper surface of the base 111, thereby realizing the surgical instrument 110 and the wireless The smooth installation between bacteria adapter 140.

Limiting blocks 137 are arranged at the edges of the first set of holes 135 and the second set of holes close to each other. The movement of the first operation button 164 and the second operation button 165 is restricted when the aseptic adapter 140 is connected. Optionally, the limit block 137 may be the edge of the first set of holes 135 and the second set of holes close to the first operation button 164 and the second operation button 165 respectively.

The upper surface of the sterile adapter 140 is provided with adapter fixing buckles 148, and its quantity can be one or more groups, etc., and each group of adapter fixing buckles 148 includes at least two adapter fixing buckles 148, and at least two adapter fixing buckles 148 span set up. Specifically, the adapter fixing buckle 148 is located on the surface of the adapter cover 142 and at least partially extends into the base 111 .

The surgical instrument 110 also includes the aforementioned instrument actuator 131 and at least one instrument fixing assembly 113 . The instrument actuator 131 is disposed on the base 111 . The instrument fixing assembly 113 is also disposed on the base 111 , and it is located on one side of the instrument actuator 131 . Optionally, the surgical instrument 110 has two instrument fixing assemblies 113, which are respectively located on opposite sides of the instrument actuator 131 and correspond to the adapter fixing buckles 148 on the two sides. The instrument fixing assembly 113 is used to fix the base 111 to the sterile adapter 140 .

The instrument fixing assembly 113 includes an instrument moving part 114, and the instrument moving part 114 is provided with a group of moving buckles 115 corresponding to the adapter fixing buckles 148, and a group of moving buckles 115 includes at least two moving buckles 115 or more, and at least two moving buckles 115 span settings. The travel buckle 115 also extends at least partially into the base 111 to mate with the adapter fixing buckle 148 . Therefore, the multi-point clamping is beneficial to avoid overturning.

The instrument moving part 114 is configured to be movable between the locking position where the moving buckle 115 is engaged with the adapter fixing buckle 148 and the unlocking position where the moving buckle 115 is disengaged from the adapter fixing buckle 148, and the moving track of the instrument moving part 114 is parallel to the sterile surface of the adapter 140 . In other words, each instrument moving part 114 can move along the arrangement direction of a group of moving buttons 115 .

In an optional embodiment, the base 111 is provided with a through hole 112, and both the adapter fixing buckle 148 and the moving buckle 115 at least partially extend into the through hole 112, so as to complete the engagement and disengagement actions in the through hole 112. , so that the base 111 can be fixed on the sterile adapter 140 .

More specifically, in the illustrated embodiment, the through hole 112 is configured as a T-shaped slot. An adapter retainer 148 extends from the adapter cover 142 into the head of the T-slot. The moving buckle 115 extends from the instrument moving part 114 to the tail of the T-shaped slot, and is movable in the tail.

In an optional embodiment, the mobile buckle 115 includes an extension part and a clamping part, the clamping part is provided with a clamping surface, and the clamping surface is located on the upper surface of the clamping part. When more than one set of mobile buckles 115 is provided, the engaging portions in the same group of mobile buckles 115 have the same orientation. The adapter fixing buckle 148 is configured as a card slot, and the card slot has a matching surface, and the matching surface faces downward. When more than one set of adapter fixing buckles 148 are provided, the notches of the slots in the same set of adapter fixing buckles 148 have the same orientation. When the moving buckle 115 and the adapter fixing buckle 148 are engaged by relative horizontal movement, the clamping part extends into the clamping groove, and the clamping surface and the mating surface fit together, thereby realizing surface-to-surface contact clamping, making the clamping more secure. Stablize.

According to the surgical robot 100 provided in the embodiment of the present application, the relative horizontal movement between the adapter fixing buckle 148 and the moving buckle 115 is used to realize the clamping, which can reduce or avoid the gap between the buckles, and improve the tightness and stability of the clamping sex.

Optionally, two sets of adapter fixing buckles 148 are provided on the upper surface of the adapter cover 142 , and the two sets of adapter fixing buckles 148 are arranged at a distance from each other and in the same direction. Specifically, the two sets of adapter fixing buckles 148 are respectively located at two opposite sides of the sterile adapter 140 .

Correspondingly, the surgical instrument 110 is optionally provided with two instrument fixing assemblies 113 . The two instrument fixing components 113 are respectively arranged at the two sides of the base 111 corresponding to the two sides of the sterile adapter 140, that is, on both sides of the instrument actuator 131 as described above, or on both sides of the base 111. side.

Each instrument fixing component 113 corresponds to a set of adapter fixing buckles 148 . That is, each instrument moving part 114 is provided with a set of moving buckles 115 , and a set of moving buckles 115 is arranged along the length direction of the instrument moving part 114 . As a result, the moving buckles 115 of the same group can all move together with the instrument moving part 114, so as to realize linkage and facilitate loading and unloading.

The instrument fixing assembly 113 also includes a guide portion and a first elastic member 121 . The guiding parts are arranged on both sides of the instrument actuator 131 . It extends in a direction parallel to the sides of the base 111 . The instrument moving part 114 is disposed on and limited by the guide part, so that the instrument moving part 114 can move in a direction parallel to the side part.

The first elastic member 121 is optionally disposed on the guide portion and connected to the instrument moving part 114 to apply elastic force to the instrument moving part 114 . The elastic force of the first elastic member 121 makes the instrument moving part 114 tend to move toward the locked position.

Optionally, the moving direction of the instrument moving part 114 may be parallel to the moving directions of the first moving part 151 and the second moving part 155, and the moving direction of the instrument moving part 114 may also be parallel to the moving direction of the first moving part 151 and the second moving part 155. The direction of movement is vertical.

Exemplarily, the guide part may be a sliding slot (not shown) embedded in the base 111 or a guide rail (not shown) protruding from the base 111 . In the illustrated embodiment, the guide part can optionally be configured as a slide bar 120 . The slide bar 120 can be configured as an integral type or as a split type.

Please refer to FIG. 9 and FIG. 10 below. The instrument fixing assembly 113 also includes a first connecting seat 116 and a second connecting seat 117 . Both are arranged on the base 111 and spanned. Specifically, both the first connecting seat 116 and the second connecting seat 117 are disposed on the side of the base 111 on one side of the instrument actuator 131 . The instrument mover 114 includes a mover body 118 having a first end 133 adjacent to the first connecting seat 116 and a second end 134 adjacent to the second connecting seat 117 .

The guide part is optionally disposed between the first connecting seat 116 and the second connecting seat 117 , so that the instrument moving part 114 can move between the first connecting seat 116 and the second connecting seat 117 .

In a specific embodiment, the guiding part further includes a sliding rod 120 connected between the first connecting part 153 and the second connecting part 157 . In other words, the slide bar 120 is defined by the guide portion. The slide bar 120 may extend across the entirety of the movable body 118 through a channel 119 extending from a first end 133 of the movable member body 118 to a second end 134 of the movable member body 118 , thereby limiting movement of the movable member body 118 . The channel 119 can be buried in the main body 118 of the moving part except two ends, or can be partly or completely exposed.

In an optional embodiment, channels 119 are respectively provided at the first end 133 and the second end 134 of the main body of the moving element, and the two channels 119 are not connected. In this case, the sliding rod 120 needs to be set in a split type, and then extend into the two channels 119 respectively.

Continue to refer to FIG. 9 and FIG. 10 . The first elastic member 121 is sleeved on the sliding rod 120 and located between the second end 134 of the moving part body 118 and the second connecting seat 117 , so that the distance between the first end 133 and the first connecting seat 116 is variable.

It is easy to understand that the first elastic member 121 is optionally located between the first end 133 of the moving part body 118 and the first connecting seat 116, so that the distance between the first end 133 and the first connecting seat 116 is variable. .

Thus, when the mobile buckle 115 is in the locked position, the user can push the instrument moving part 114 by manipulating the button 124 (described in detail below), so that it can move in a direction close to the second connecting seat 117, so that the mobile buckle 115 can move to the unlocked position.

When the moving buckle 115 is at the unlocked position, the instrument moving part 114 can move in a direction away from the second connecting seat 117 driven by the first elastic member 121 , so that the moving buckle 115 moves to the locked position.

Please refer to Figure 9, Figure 10, Figure 11 and Figure 12 below. The surgical instrument 110 also includes an unlocking assembly including a shutter 122 and a manipulation button 124. The baffle 122 is fixedly connected to the base 111 , and the baffle 122 is provided with a perforation 123 .

A manipulation button 124 is reciprocally connected to the shutter 122 . The manipulation button 124 includes a button body 125 and a stop buckle 130 . The limit buckle 130 is connected to the button body 125 , and a side of the button body 125 with the limit buckle 130 is disposed toward the baffle 122 . The limit buckle 130 extends through the above-mentioned through hole 112 so that the manipulation button 124 can move back and forth along a direction approaching or away from the baffle 122 . The above-mentioned reciprocating movement can be realized by the second elastic member 129 connected between the button body 125 and the baffle 122 . The second elastic member 129 exerts elastic force on the button body 125 , so that the button body 125 tends to move away from the barrier 122 .

Specifically, the limit buckle 130 includes a body portion 126 and a hook portion 166 . The body portion 126 is connected to the button body 125 , and the hook portion 166 is located at an end of the body portion 126 away from the button body 125 . The body portion 126 extends through the through hole 123, functioning like a guide rail. The hook portion 166 can be engaged with the edge of the through hole 123 to prevent the limit buckle 130 from disengaging from the through hole 123 , so as to limit the button body 125 to the side of the baffle 122 .

The manipulation button 124 may have four stop buttons 130 distributed at four corners of the button body 125 . Correspondingly, four perforations 123 are provided on the baffle plate 122 .

In order to realize the locking and unlocking control of the operating button 124 on the instrument moving part 114 , the operating button 124 also has an actuating part 127 . Correspondingly, the instrument moving part 114 has a passive part 128 . When the button body 125 is close to the baffle 122, the actuating part 127 interferes with the passive part 128, so that the moving part body 118 can move to the unlocked position; This enables the moving member body 118 to move toward the locked position.

Specifically, the actuating part 127 is located at the lower part of the button body 125 and protrudes toward the bottom of the button body 125 . The passive part 128 protrudes from the moving part main body 118 . The actuating portion 127 has an actuating surface 138 and the passive portion 128 has a passive surface 139 , both of which are optionally configured as sloped surfaces such that a sliding fit is formed between the actuating surface 138 and the passive surface 139 .

In an optional embodiment, the actuating part 127 can be configured as a rolling element such as a bearing or a roller, and the passive part 128 can be configured as a sloped passive surface 139 , so that a rolling fit is formed between the rolling element and the passive surface 139 .

Thus, when the user presses the manipulation button 124, the button body 125 approaches the baffle 122, and then the actuating surface 138 of the actuating part 127 interferes with the passive surface 139 of the passive part 128. The longitudinal movement of 124 translates into lateral movement of the instrument mover 114, which in turn causes the instrument mover 114 to move toward the unlocked position. When the user releases the manipulation button 124, the button body 125 is moved away from the baffle plate 122 under the action of the second elastic member 129, and the actuating surface 138 is out of interference with the passive surface 128, so that the moving part 114 of the instrument moves under the action of the first elastic member 121. down towards the locked position.

In accordance with the embodiments of the present application as described above, these embodiments do not describe all details in detail, nor do they limit the application to only the specific embodiments described. Obviously many modifications and variations are possible in light of the above description. This description selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can make good use of the present application and its modifications based on the present application. This application is to be limited only by the claims, along with their full scope and equivalents.

Claims (28)

1. A connection structure between an instrument driver and a sterile adapter, the surface of the instrument driver is provided with a driver fixing buckle, the sterile adapter is connected to the instrument driver, and the sterile adapter includes: an adapter body; an adapter connection assembly, The adapter connection assembly is arranged on the adapter body for fixing the adapter body to the instrument driver, the adapter connection assembly has a movable buckle that can cooperate with the driver fixing buckle, and the movable buckle is connected with the driver fixing buckle. The driver fixing buckle is movable between an engaged position where it is engaged and a disengaged position where it is disengaged from the driver fixing buckle, wherein the movable track of the movable buckle is parallel to the mating surface of the instrument driver and the sterile adapter .
2. The connection structure between the instrument driver and the sterile adapter according to claim 1, wherein two sets of the driver fixing buckles are arranged on the surface of the instrument driver, and the two sets of the driver fixing buckles are arranged separately by the driver transmission part, so The adapter connection assembly includes: two movable parts, each of which has a set of movable buckles corresponding to a set of fixed buckles of the driver, and the two movable parts are movable relative to the main body of the adapter , so as to drive the movable buckle to move between the engaging position and the disengaged position; at least one elastic member, the elastic member is connected with the movable member to provide the movable member to drive the movable buckle Force towards said engaged position.
3. The connection structure between the instrument driver and the sterile adapter according to claim 2, wherein the two movable parts are arranged in linkage or not in linkage.
4. The connection structure between the device driver and the sterile adapter according to claim 2 or 3, wherein each set of driver fixing buckles includes at least two fixing buckle span settings, and each of the movable parts is set There is a live buckle at the same point as the drive fastening buckle.
5. The connection structure between an instrument driver and a sterile adapter according to any one of claims 2 to 4, wherein the movable part includes a locking part and a connecting part, and the movable buckle is located on the locking part, so The connection part is connected with the elastic part, and the elastic part provides a force driving the movable buckle towards the engaging position, and the extending direction of the engaging part is perpendicular to the force direction of the elastic part.
6. The connecting structure of the instrument driver and the sterile adapter according to claim 5, wherein the engaging portion extends from one side or both sides of the connecting portion, and a set of movable buckles extends along the engaging portion. Span arrangement in extension direction.
7. The connection structure between the instrument driver and the sterile adapter according to claim 5 or 6, wherein the movable part further includes an operation button, and the operation button is arranged on the connecting part or the engaging part.
8. The connecting structure of the instrument driver and the sterile adapter according to any one of claims 2 to 7, wherein the upper surface of the driver fixing buckle is configured as a slope or an arc surface, and the two groups of driver fixing buckles have slopes or arcs The orientation of the faces is opposite.
9. The connection structure between the instrument driver and the sterile adapter according to claim 8, wherein the lower surface of the movable buckle is configured as an inclined surface or an arcuate surface, and the inclined surfaces or the arcuate surfaces of the two groups of movable buckles face opposite to each other.
10. The connection structure between an instrument driver and a sterile adapter according to any one of claims 5 to 9, wherein the adapter connection assembly includes one elastic member, and the two movable members include: a first movable member, the The first movable part includes a first engaging part and a first connecting part connected with the first engaging part, the first engaging part is provided with a set of movable buckles; the second movable part, the second movable part It includes a second engaging part and a second connecting part connected with the second engaging part, and the second engaging part is provided with a set of movable buckles; wherein, the elastic member connects the first connecting part and the The second connecting part is connected so that the first movable part and the second movable part are movable relative to each other.
11. The connecting structure of an instrument driver and a sterile adapter according to claim 10, wherein the first connecting portion includes a cavity portion, and the second connecting portion includes a protruding portion, and the protruding portion at least partially extends into The cavity portion, and the protruding portion is configured to move along the cavity portion.
12. The connecting structure of the instrument driver and the sterile adapter according to claim 11, wherein the elastic member is arranged in the cavity, one end of the elastic member abuts against the closed end of the cavity, and the elastic The other end of the piece abuts against the protrusion.
13. The connecting structure of an instrument driver and a sterile adapter according to claim 11 or 12, wherein the elastic member is configured as a spring, and the closed end of the cavity of the first connecting part is provided with a The first fixing post protruding from the second connecting part, the end of the protruding part of the second connecting part is provided with a second fixing post protruding toward the first connecting part, the two ends of the spring respectively sleeved on the first fixing column and the second fixing column.
14. The connection structure between the instrument driver and the sterile adapter according to any one of claims 2 to 9, wherein a partition is provided on the adapter body, the adapter connection assembly includes two elastic members, two The elastic pieces are respectively located on and connected to two sides of the partition, each of the movable pieces is respectively connected to one of the elastic pieces, and the two movable pieces are symmetrical with respect to the partition.
15. The connection structure between an instrument driver and a sterile adapter according to any one of claims 8 to 14, wherein the driver fixing buckle includes an extension part and a snap-in part, and the snap-in part is provided with a snap-in surface, so The upper surface of the clamping part forms the upper surface of the fixing buckle of the driver, the clamping surface is configured as the lower surface of the clamping part, the movable buckle is configured as a slot with a notch facing outward, and the clamping surface is configured as a lower surface of the clamping part. The groove has a mating surface, and the mating surface forms a bottom surface in the card slot. When the movable buckle is engaged with the fixed buckle of the driver, the engaging surface and the mating surface are attached.
16. A connection structure between a sterile adapter and a surgical instrument, the upper surface of the sterile adapter is provided with an adapter fixing buckle, the surgical instrument is connected to the sterile adapter, and the surgical instrument includes:

    base;

    At least one instrument fixing assembly, the instrument fixing assembly is arranged on the base for fixing the base to the sterile adapter, the instrument fixing assembly includes an instrument moving part, and the instrument moving part is provided with a a moving buckle engaged with the adapter fixing buckle, the instrument moving member being configured between a locked position in which the moving buckle is engaged with the adapter fixing buckle and an unlocked position in which the moving buckle is disengaged from the adapter fixing buckle movable, wherein the moving track of the device moving part is parallel to the surface of the sterile adapter.
17. The connection structure between an aseptic adapter and a surgical instrument according to claim 16, wherein two sets of adapter fixing buckles are provided on the upper surface of the aseptic adapter, and the two sets of adapter fixing buckles are respectively located on the sterile adapter. The two opposite sides of the adapter; the surgical instrument includes two instrument fixing components, the two instrument fixing components are respectively arranged on the two sides of the base corresponding to the sterile adapter, and respectively Corresponding to the adapter fixing buckles, each of the instrument moving parts is provided with a set of the moving buckles, and a set of the moving buckles is arranged along the side extension direction of the sterile adapter.
18. The connection structure between a sterile adapter and a surgical instrument according to claim 17, wherein each set of said adapter fixing buckles comprises at least two said adapter fixing buckles, and at least two said adapter fixing buckles are set across a span, each The instrument moving part includes at least two moving buckles, and at least two moving buckles are arranged across a span.
19. The connection structure between a sterile adapter and a surgical instrument according to claim 18, wherein each of the instrument moving parts moves along the direction in which the moving buttons are arranged.
20. The connection structure between a sterile adapter and a surgical instrument according to any one of claims 17 to 19, wherein the instrument fixing assembly further comprises:

    a guide part, the guide part extends in a direction parallel to both sides of the base, the instrument moving part is arranged on and limited by the guide part, so that the instrument moving part can move along a direction parallel to the two sides of the base; direction movement of the sides of the base;

    A first elastic member, the first elastic member is arranged on the guide part and connected with the instrument moving part, the elastic force of the first elastic member makes the instrument moving part tend to move toward the locking position.
21. The connection structure between the sterile adapter and the surgical instrument according to claim 20, wherein the instrument fixing assembly further comprises:

    a first connecting seat, the first connecting seat is arranged on the base;

    a second connecting seat, the second connecting seat is arranged on the base and is set at a distance from the first connecting seat;

    Wherein, the guide part is arranged between the first connecting seat and the second connecting seat, so that the instrument moving part can move between the first connecting seat and the second connecting seat.
22. The connection structure between a sterile adapter and a surgical instrument according to claim 21, wherein the guide part includes a slide bar at least partially extending into the instrument moving part, and the slide bar is connected to the first connecting seat and /or the second connection seat, the instrument moving part is configured to move along the slide bar.
23. The connection structure between a sterile adapter and a surgical instrument according to claim 21 or 22, wherein the instrument moving part comprises a moving part main body, and the moving part main body has a first end close to the first connecting seat and a first end close to the first connecting seat. At the second end of the second connecting seat, the main body of the moving element is provided with a passage penetrating from the first end to the second end; the slide bar passes through the passage and is defined by the guide part.
24. The connection structure between the sterile adapter and the surgical instrument according to claim 23, wherein the first elastic member is sheathed on the sliding rod and located at the second end of the moving part main body and the second connecting seat between, so that the distance between the first end and the first connecting seat is variable; or

    The first elastic member is located between the first end of the main body of the moving part and the first connecting seat, so that the distance between the first end and the first connecting seat is variable.
25. The connection structure between a sterile adapter and a surgical instrument according to claim 23 or 24, wherein the surgical instrument further includes an unlocking assembly, the unlocking assembly includes a baffle and a manipulation button, and the baffle is fixedly connected to the The base is provided with perforations, and the manipulation buttons include:

    a button body, one side of the button body faces the baffle;

    A limit buckle, the limit buckle is connected to the button main body, the limit buckle includes a body portion and a hook portion disposed at an end of the body portion, the body portion extends through the through hole, so that the manipulation button can move toward or away from the baffle, and the hook portion can be engaged with the edge of the perforation, so as to prevent the position-limiting buckle from disengaging from the perforation; and

    an actuation part, the actuation part is located at the lower part of the button body and protrudes toward the bottom of the button body;

    The moving part main body is provided with a passive part protruding from the moving part main body;

    Wherein, when the button body is close to the baffle, the actuating part interferes with the passive part, so that the moving part body can move to the unlocked position; when the button body is away from the baffle When , the actuating part is separated from the passive part, so that the main body of the moving part can move to the locking position.
26. The connection structure between a sterile adapter and a surgical instrument according to claim 25, wherein, the actuating part has an actuating surface, the passive part has a passive surface, and a gap is formed between the actuating surface and the passive surface. a sliding fit, the actuating surface and the passive surface are both configured as inclined surfaces; or

    The actuating part is configured as a rolling element, the passive part has a passive surface, a rolling fit is formed between the rolling element and the passive surface, and the passive surface is configured as an inclined surface.
27. The connection structure between a sterile adapter and a surgical instrument according to claim 25 or 26, wherein the instrument fixing assembly further includes a second elastic member connected between the button body and the baffle Between, the elastic force of the second elastic member makes the button body tend to be away from the baffle.
28. A surgical robot, comprising the connection structure between the instrument driver and the sterile adapter according to any one of claims 1 to 15, and/or the connection structure between the sterile adapter and the surgical instrument according to any one of claims 16 to 27 .

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